/*
 This file is part of AutoQuad.
 
 AutoQuad is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 
 AutoQuad is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 You should have received a copy of the GNU General Public License
 along with AutoQuad.  If not, see <http://www.gnu.org/licenses/>.
 
 Copyright © 2011, 2012, 2013  Bill Nesbitt
 */

#define DEFAULT_CONFIG_VERSION      107

#define DEFAULT_RADIO_TYPE          0           // 0 == Spektrum 11bit, 1 == Spektrum 10bit, 2 == SBUS, 3 == PPM, 4 == SUMD
#define DEFAULT_RADIO_THRO_CH       0
#define DEFAULT_RADIO_ROLL_CH       1
#define DEFAULT_RADIO_PITC_CH       2
#define DEFAULT_RADIO_RUDD_CH       3
#define DEFAULT_RADIO_GEAR_CH       4
#define DEFAULT_RADIO_FLAP_CH       5
#define DEFAULT_RADIO_AUX2_CH       6
#define DEFAULT_RADIO_AUX3_CH       7
#define DEFAULT_RADIO_AUX4_CH       8
#define DEFAULT_RADIO_AUX5_CH       9
#define DEFAULT_RADIO_AUX6_CH       10
#define DEFAULT_RADIO_AUX7_CH       11

#define DEFAULT_PPM_SCALER          3           // good for FrSky & Graupner HOTT
#define DEFAULT_PPM_THROT_LOW       1090        // throttle value at low stick
#define DEFAULT_PPM_CHAN_MID        1512        // middle of the stick range

#define DEFAULT_SIG_LED_1_PRT       0.0f        // External Led(1) port, 0.0f to disable
#define DEFAULT_SIG_LED_2_PRT       0.0f        // External Led(2) port, 0.0f to disable
#define DEFAULT_SIG_BEEP_PRT        0.0f        // negative sign before port number when using a piezo speaker, no sign when using a piezo buzzer

#define DEFAULT_CTRL_PID_TYPE       0           // 0 == parallel TILT/RATE PIDs, 1 == cascading TILT/RATE PIDs

#define DEFAULT_CTRL_FACT_THRO      0.70f       // user throttle multiplier
#define DEFAULT_CTRL_FACT_PITC      0.05f       // user pitch multiplier
#define DEFAULT_CTRL_FACT_ROLL      0.05f       // user roll multiplier
#define DEFAULT_CTRL_FACT_RUDD      0.0004f     // user rudder multiplier
#define DEFAULT_CTRL_DEAD_BAND      40.0f       // rc control dead band (for pitch, roll, & rudder control)
#define DEFAULT_CTRL_DBAND_THRO     40.0f       // rc control dead band (for throttle channel only)
#define DEFAULT_CTRL_MIN_THROT      20.0f       // minimum user throttle to activate motors
#define DEFAULT_CTRL_MAX            300.0f      // maximum control applied to motors +- throttle
#define DEFAULT_CTRL_NAV_YAW_RT     180.0f      // maximum navigation yaw rate deg/s

// TILT rate PID
#define DEFAULT_CTRL_TLT_RTE_P      0.0f
#define DEFAULT_CTRL_TLT_RTE_I      0.0f
#define DEFAULT_CTRL_TLT_RTE_D      7180.0f
#define DEFAULT_CTRL_TLT_RTE_F      0.25f
#define DEFAULT_CTRL_TLT_RTE_PM     999.0f
#define DEFAULT_CTRL_TLT_RTE_IM     999.0f
#define DEFAULT_CTRL_TLT_RTE_DM     999.0f
#define DEFAULT_CTRL_TLT_RTE_OM     250.0f

// YAW rate PID
#define DEFAULT_CTRL_YAW_RTE_P      300.0f
#define DEFAULT_CTRL_YAW_RTE_I      0.15f
#define DEFAULT_CTRL_YAW_RTE_D      50.0f
#define DEFAULT_CTRL_YAW_RTE_F      0.25f
#define DEFAULT_CTRL_YAW_RTE_PM     80.0f
#define DEFAULT_CTRL_YAW_RTE_IM     80.0f
#define DEFAULT_CTRL_YAW_RTE_DM     80.0f
#define DEFAULT_CTRL_YAW_RTE_OM     180.0f

// TILT angle PID
#define DEFAULT_CTRL_TLT_ANG_P      60.0f
#define DEFAULT_CTRL_TLT_ANG_I      0.0005f
#define DEFAULT_CTRL_TLT_ANG_D      1744.0f
#define DEFAULT_CTRL_TLT_ANG_F      0.25f
#define DEFAULT_CTRL_TLT_ANG_PM     150.0f
#define DEFAULT_CTRL_TLT_ANG_IM     75.0f
#define DEFAULT_CTRL_TLT_ANG_DM     150.0f
#define DEFAULT_CTRL_TLT_ANG_OM     250.0f

// YAW angle PID
#define DEFAULT_CTRL_YAW_ANG_P      0.05f
#define DEFAULT_CTRL_YAW_ANG_I      0.00002f
#define DEFAULT_CTRL_YAW_ANG_D      0.0f
#define DEFAULT_CTRL_YAW_ANG_F      0.0f
#define DEFAULT_CTRL_YAW_ANG_PM     1.25f
#define DEFAULT_CTRL_YAW_ANG_IM     0.04f
#define DEFAULT_CTRL_YAW_ANG_DM     0.0f
#define DEFAULT_CTRL_YAW_ANG_OM     1.25f

#define DEFAULT_MOT_FRAME           0           // 0 == custom, 1 == '+' configuration, 2 == 'x', 3 == hex
#define DEFAULT_MOT_START           1125
#define DEFAULT_MOT_MIN             975
#define DEFAULT_MOT_MAX             1950
#define DEFAULT_MOT_HOV_THROT       500
#define DEFAULT_MOT_EXP_FACT        0.0f
#define DEFAULT_MOT_EXP_MIN         0.0f
#define DEFAULT_MOT_EXP_MAX         0.0f

#define DEFAULT_MOT_PWRD_01_T       0.0
#define DEFAULT_MOT_PWRD_01_P       0.0
#define DEFAULT_MOT_PWRD_01_R       0.0
#define DEFAULT_MOT_PWRD_01_Y       0.0
#define DEFAULT_MOT_PWRD_02_T       0.0
#define DEFAULT_MOT_PWRD_02_P       0.0
#define DEFAULT_MOT_PWRD_02_R       0.0
#define DEFAULT_MOT_PWRD_02_Y       0.0
#define DEFAULT_MOT_PWRD_03_T       0.0
#define DEFAULT_MOT_PWRD_03_P       0.0
#define DEFAULT_MOT_PWRD_03_R       0.0
#define DEFAULT_MOT_PWRD_03_Y       0.0
#define DEFAULT_MOT_PWRD_04_T       0.0
#define DEFAULT_MOT_PWRD_04_P       0.0
#define DEFAULT_MOT_PWRD_04_R       0.0
#define DEFAULT_MOT_PWRD_04_Y       0.0
#define DEFAULT_MOT_PWRD_05_T       0.0
#define DEFAULT_MOT_PWRD_05_P       0.0
#define DEFAULT_MOT_PWRD_05_R       0.0
#define DEFAULT_MOT_PWRD_05_Y       0.0
#define DEFAULT_MOT_PWRD_06_T       0.0
#define DEFAULT_MOT_PWRD_06_P       0.0
#define DEFAULT_MOT_PWRD_06_R       0.0
#define DEFAULT_MOT_PWRD_06_Y       0.0
#define DEFAULT_MOT_PWRD_07_T       0.0
#define DEFAULT_MOT_PWRD_07_P       0.0
#define DEFAULT_MOT_PWRD_07_R       0.0
#define DEFAULT_MOT_PWRD_07_Y       0.0
#define DEFAULT_MOT_PWRD_08_T       0.0
#define DEFAULT_MOT_PWRD_08_P       0.0
#define DEFAULT_MOT_PWRD_08_R       0.0
#define DEFAULT_MOT_PWRD_08_Y       0.0
#define DEFAULT_MOT_PWRD_09_T       0.0
#define DEFAULT_MOT_PWRD_09_P       0.0
#define DEFAULT_MOT_PWRD_09_R       0.0
#define DEFAULT_MOT_PWRD_09_Y       0.0
#define DEFAULT_MOT_PWRD_10_T       0.0
#define DEFAULT_MOT_PWRD_10_P       0.0
#define DEFAULT_MOT_PWRD_10_R       0.0
#define DEFAULT_MOT_PWRD_10_Y       0.0
#define DEFAULT_MOT_PWRD_11_T       0.0
#define DEFAULT_MOT_PWRD_11_P       0.0
#define DEFAULT_MOT_PWRD_11_R       0.0
#define DEFAULT_MOT_PWRD_11_Y       0.0
#define DEFAULT_MOT_PWRD_12_T       0.0
#define DEFAULT_MOT_PWRD_12_P       0.0
#define DEFAULT_MOT_PWRD_12_R       0.0
#define DEFAULT_MOT_PWRD_12_Y       0.0
#define DEFAULT_MOT_PWRD_13_T       0.0
#define DEFAULT_MOT_PWRD_13_P       0.0
#define DEFAULT_MOT_PWRD_13_R       0.0
#define DEFAULT_MOT_PWRD_13_Y       0.0
#define DEFAULT_MOT_PWRD_14_T       0.0
#define DEFAULT_MOT_PWRD_14_P       0.0
#define DEFAULT_MOT_PWRD_14_R       0.0
#define DEFAULT_MOT_PWRD_14_Y       0.0


#define DEFAULT_COMM_BAUD1          115200
#define DEFAULT_COMM_BAUD2          230400
#define DEFAULT_COMM_BAUD3          3000000
#define DEFAULT_COMM_BAUD4          460800
#define DEFAULT_COMM_STREAM_TYP1    COMM_TYPE_MAVLINK
#define DEFAULT_COMM_STREAM_TYP2    0
#define DEFAULT_COMM_STREAM_TYP3    0
#define DEFAULT_COMM_STREAM_TYP4    0


#define DEFAULT_TELEMETRY_RATE      20          // loops between reports


#define DEFAULT_NAV_MAX_SPEED       5.0f        // m/s
#define DEFAULT_NAV_MAX_DECENT      1.5f        // m/s
#define DEFAULT_NAV_CEILING         0.0f        // m relative to home alt. Maximum altitude in alt/pos/mission/dvh modes

// speed => tilt PID
#define DEFAULT_NAV_SPEED_P         7.0f
#define DEFAULT_NAV_SPEED_I         0.005f
#define DEFAULT_NAV_SPEED_PM        20.0f
#define DEFAULT_NAV_SPEED_IM        20.0f
#define DEFAULT_NAV_SPEED_OM        30.0f

// distance => speed PID
#define DEFAULT_NAV_DIST_P          0.5f
#define DEFAULT_NAV_DIST_I          0.0f
#define DEFAULT_NAV_DIST_PM         999.0f
#define DEFAULT_NAV_DIST_IM         0.0f
#define DEFAULT_NAV_DIST_OM         999.0f

// Altitude hold Speed PID
#define DEFAULT_NAV_ATL_SPED_P      200.0f
#define DEFAULT_NAV_ATL_SPED_I      2.85f
#define DEFAULT_NAV_ATL_SPED_PM     150.0f
#define DEFAULT_NAV_ATL_SPED_IM     700.0f
#define DEFAULT_NAV_ATL_SPED_OM     700.0f

// Altitude hold Position PID
#define DEFAULT_NAV_ALT_POS_P       0.20f
#define DEFAULT_NAV_ALT_POS_I       0.0f
#define DEFAULT_NAV_ALT_POS_PM      2.5f
#define DEFAULT_NAV_ALT_POS_IM      0.0f
#define DEFAULT_NAV_ALT_POS_OM      2.5f

#define DEFAULT_IMU_ROT             +0.0                // degrees to rotate the IMU to align with the frame

#define DEFAULT_IMU_ACC_BIAS_X      -1.65
#define DEFAULT_IMU_ACC_BIAS_Y      -1.65
#define DEFAULT_IMU_ACC_BIAS_Z      -1.65
#define DEFAULT_IMU_ACC_BIAS1_X     0.0
#define DEFAULT_IMU_ACC_BIAS1_Y     0.0
#define DEFAULT_IMU_ACC_BIAS1_Z     0.0
#define DEFAULT_IMU_ACC_BIAS2_X     0.0
#define DEFAULT_IMU_ACC_BIAS2_Y     0.0
#define DEFAULT_IMU_ACC_BIAS2_Z     0.0
#define DEFAULT_IMU_ACC_BIAS3_X     0.0
#define DEFAULT_IMU_ACC_BIAS3_Y     0.0
#define DEFAULT_IMU_ACC_BIAS3_Z     0.0

#define DEFAULT_IMU_ACC_SCAL_X      +0.019
#define DEFAULT_IMU_ACC_SCAL_Y      +0.019
#define DEFAULT_IMU_ACC_SCAL_Z      +0.019
#define DEFAULT_IMU_ACC_SCAL1_X     0.0
#define DEFAULT_IMU_ACC_SCAL1_Y     0.0
#define DEFAULT_IMU_ACC_SCAL1_Z     0.0
#define DEFAULT_IMU_ACC_SCAL2_X     0.0
#define DEFAULT_IMU_ACC_SCAL2_Y     0.0
#define DEFAULT_IMU_ACC_SCAL2_Z     0.0
#define DEFAULT_IMU_ACC_SCAL3_X     0.0
#define DEFAULT_IMU_ACC_SCAL3_Y     0.0
#define DEFAULT_IMU_ACC_SCAL3_Z     0.0

#define DEFAULT_IMU_ACC_ALGN_XY     0.0
#define DEFAULT_IMU_ACC_ALGN_XZ     0.0
#define DEFAULT_IMU_ACC_ALGN_YX     0.0
#define DEFAULT_IMU_ACC_ALGN_YZ     0.0
#define DEFAULT_IMU_ACC_ALGN_ZX     0.0
#define DEFAULT_IMU_ACC_ALGN_ZY     0.0

#define DEFAULT_IMU_MAG_BIAS_X      0.0
#define DEFAULT_IMU_MAG_BIAS_Y      0.0
#define DEFAULT_IMU_MAG_BIAS_Z      0.0
#define DEFAULT_IMU_MAG_BIAS1_X     0.0
#define DEFAULT_IMU_MAG_BIAS1_Y     0.0
#define DEFAULT_IMU_MAG_BIAS1_Z     0.0
#define DEFAULT_IMU_MAG_BIAS2_X     0.0
#define DEFAULT_IMU_MAG_BIAS2_Y     0.0
#define DEFAULT_IMU_MAG_BIAS2_Z     0.0
#define DEFAULT_IMU_MAG_BIAS3_X     0.0
#define DEFAULT_IMU_MAG_BIAS3_Y     0.0
#define DEFAULT_IMU_MAG_BIAS3_Z     0.0

#define DEFAULT_IMU_MAG_SCAL_X      +0.19
#define DEFAULT_IMU_MAG_SCAL_Y      +0.19
#define DEFAULT_IMU_MAG_SCAL_Z      +0.19
#define DEFAULT_IMU_MAG_SCAL1_X     0.0
#define DEFAULT_IMU_MAG_SCAL1_Y     0.0
#define DEFAULT_IMU_MAG_SCAL1_Z     0.0
#define DEFAULT_IMU_MAG_SCAL2_X     0.0
#define DEFAULT_IMU_MAG_SCAL2_Y     0.0
#define DEFAULT_IMU_MAG_SCAL2_Z     0.0
#define DEFAULT_IMU_MAG_SCAL3_X     0.0
#define DEFAULT_IMU_MAG_SCAL3_Y     0.0
#define DEFAULT_IMU_MAG_SCAL3_Z     0.0

#define DEFAULT_IMU_MAG_ALGN_XY     0.0
#define DEFAULT_IMU_MAG_ALGN_XZ     0.0
#define DEFAULT_IMU_MAG_ALGN_YX     0.0
#define DEFAULT_IMU_MAG_ALGN_YZ     0.0
#define DEFAULT_IMU_MAG_ALGN_ZX     0.0
#define DEFAULT_IMU_MAG_ALGN_ZY     0.0

#define DEFAULT_IMU_GYO_BIAS_X      -1.33
#define DEFAULT_IMU_GYO_BIAS_Y      -1.33
#define DEFAULT_IMU_GYO_BIAS_Z      -1.33
#define DEFAULT_IMU_GYO_BIAS1_X     0.0
#define DEFAULT_IMU_GYO_BIAS1_Y     0.0
#define DEFAULT_IMU_GYO_BIAS1_Z     0.0
#define DEFAULT_IMU_GYO_BIAS2_X     0.0
#define DEFAULT_IMU_GYO_BIAS2_Y     0.0
#define DEFAULT_IMU_GYO_BIAS2_Z     0.0
#define DEFAULT_IMU_GYO_BIAS3_X     0.0
#define DEFAULT_IMU_GYO_BIAS3_Y     0.0
#define DEFAULT_IMU_GYO_BIAS3_Z     0.0

#define DEFAULT_IMU_GYO_SCAL_X      +0.1145
#define DEFAULT_IMU_GYO_SCAL_Y      +0.1145
#define DEFAULT_IMU_GYO_SCAL_Z      +0.1145

#define DEFAULT_IMU_GYO_ALGN_XY     0.0
#define DEFAULT_IMU_GYO_ALGN_XZ     0.0
#define DEFAULT_IMU_GYO_ALGN_YX     0.0
#define DEFAULT_IMU_GYO_ALGN_YZ     0.0
#define DEFAULT_IMU_GYO_ALGN_ZX     0.0
#define DEFAULT_IMU_GYO_ALGN_ZY     0.0

//#define DEFAULT_IMU_MAG_INCL        -65.0
//#define DEFAULT_IMU_MAG_DECL        0.0

#define DEFAULT_IMU_PRESS_SENSE     0.0f                // 0 == sensor #1, 1 == sensor #2, 2 == both


#define DEFAULT_GMBL_PITCH_PORT     0.0f                // 0 == disabled
#define DEFAULT_GMBL_ROLL_PORT      0.0f                // 0 == disabled
#define DEFAULT_GMBL_PWM_MAX_RL    2250
#define DEFAULT_GMBL_PWM_MIN_RL    750
#define DEFAULT_GMBL_PWM_MAX_PT    2250
#define DEFAULT_GMBL_PWM_MIN_PT    750
#define DEFAULT_GMBL_PWM_FREQ       200
#define DEFAULT_GMBL_NTRL_PITCH     1575
#define DEFAULT_GMBL_NTRL_ROLL      1442
#define DEFAULT_GMBL_SCAL_PITCH     (1.0f / 91.0f)
#define DEFAULT_GMBL_SCAL_ROLL      (1.0f / 70.0f)
#define DEFAULT_GMBL_SLEW_RATE      0.005f
#define DEFAULT_GMBL_ROLL_EXPO      0.0f


#define DEFAULT_SPVR_LOW_BAT1       3.5f            // cell volts
#define DEFAULT_SPVR_LOW_BAT2       3.3f            // cell volts
#define DEFAULT_SPVR_BAT_CRV1       +9.210144e+00f
#define DEFAULT_SPVR_BAT_CRV2       +1.481796e+01f
#define DEFAULT_SPVR_BAT_CRV3       -5.890255e+01f
#define DEFAULT_SPVR_BAT_CRV4       +1.166082e+02f
#define DEFAULT_SPVR_BAT_CRV5       -1.074193e+02f
#define DEFAULT_SPVR_BAT_CRV6       +3.779082e+01f
#define DEFAULT_SPVR_FS_RAD_ST1     0           // radio failsafe stage 1 action (0 = position hold)
#define DEFAULT_SPVR_FS_RAD_ST2     0           // radio failsafe stage 2 action (0 = slow decent, 1 = RTH + slow decent)



#define DEFAULT_UKF_VEL_Q               +7.6020e-02     // +0.076019661680       0.000109304521 -0.001443424436
#define DEFAULT_UKF_VEL_ALT_Q           +1.4149e-01     // +0.141489724652       0.000109419473 +0.000987597731
#define DEFAULT_UKF_POS_Q               +6.0490e+03     // +6048.951523179588    0.000109199532 +97.58772834123110
#define DEFAULT_UKF_POS_ALT_Q           +4.5576e+03     // +4557.622475819297    0.000109580650 +19.44625975731340
#define DEFAULT_UKF_ACC_BIAS_Q          +9.3722e-04     // +0.000937220476       0.000109347614 +0.000009865862
#define DEFAULT_UKF_GYO_BIAS_Q          +4.6872e-02     // +0.046871534288       0.000109380732 -0.000123894440
#define DEFAULT_UKF_QUAT_Q              +7.3021e-04     // +0.000730213283       0.000109472899 +0.000000995669
#define DEFAULT_UKF_PRES_ALT_Q          +6.5172e+01     // +65.171935456104      0.000109418082 -0.2151891180844
#define DEFAULT_UKF_ACC_BIAS_V          +2.7535e-07     // +0.000000275353       0.000109561088 -0.000000004212
#define DEFAULT_UKF_GYO_BIAS_V          +8.2738e-07     // +0.000000827379       0.000107923369 +0.000000009107
#define DEFAULT_UKF_RATE_V              +6.0568e-05     // +0.000060568461       0.000109458065 +0.000000498081
#define DEFAULT_UKF_PRES_ALT_V          +1.0204e-04     // +0.000102039667       0.000109254406 -0.000002050090
#define DEFAULT_UKF_POS_V               +6.4505e-08     // +0.000000064505       0.000109587486 -0.000000000240
#define DEFAULT_UKF_VEL_V               +1.0980e-07     // +0.000000109802       0.000109537353 -0.000000000134
#define DEFAULT_UKF_ALT_POS_V           +5.3821e-09     // +0.000000005382       0.000109525531 +0.000000000093
#define DEFAULT_UKF_ALT_VEL_V           +2.8103e-07     // +0.000000281035       0.000109279082 +0.000000000639
#define DEFAULT_UKF_GPS_POS_N           +1.7620e-05     // +0.000017619672       0.000109467204 -0.000000022679
#define DEFAULT_UKF_GPS_POS_M_N         +4.7413e-05     // +0.000047413187       0.000108906551 -0.000000419440
#define DEFAULT_UKF_GPS_ALT_N           +7.6558e-05     // +0.000076558177       0.000109472033 -0.000000162714
#define DEFAULT_UKF_GPS_ALT_M_N         +3.8535e-05     // +0.000038534766       0.000109525552 +0.000000007101
#define DEFAULT_UKF_GPS_VEL_N           +4.6256e-02     // +0.046255979499       0.000109061365 +0.000395208418
#define DEFAULT_UKF_GPS_VEL_M_N         +1.2336e-02     // +0.012336395925       0.000109431436 +0.000140398236
#define DEFAULT_UKF_GPS_VD_N            +3.7820e+00     // +3.782028700864       0.000109323731 -0.028830318912
#define DEFAULT_UKF_GPS_VD_M_N          +1.5841e-02     // +0.015840936058       0.000109475273 -0.000030160915
#define DEFAULT_UKF_ALT_N               +1.7077e-01     // +0.170768080733       0.000109571562 +0.000084225765
#define DEFAULT_UKF_ACC_N               +9.5468e-05     // +0.000095468045       0.000109331710 -0.000000932407
#define DEFAULT_UKF_DIST_N              +1.8705e-02     // +0.018704747883       0.000109457024 +0.000038618360
#define DEFAULT_UKF_MAG_N               +3.8226e-01     // +0.382258731690       0.000109407461 +0.002851611558
#define DEFAULT_UKF_POS_DELAY           +2.0574e+03     // +2057.421963899194    0.001097611925 -48.37809534324900
#define DEFAULT_UKF_VEL_DELAY           -1.0373e+05     // -103727.997010331557  0.000109494449 -293.522967971236500


#define DEFAULT_VN100_MAG_BIAS_X        0.0f
#define DEFAULT_VN100_MAG_BIAS_Y        0.0f
#define DEFAULT_VN100_MAG_BIAS_Z        0.0f
#define DEFAULT_VN100_MAG_SCAL_X        1.0f
#define DEFAULT_VN100_MAG_SCAL_Y        1.0f
#define DEFAULT_VN100_MAG_SCAL_Z        1.0f
#define DEFAULT_VN100_MAG_ALGN_XY       0.0f
#define DEFAULT_VN100_MAG_ALGN_XZ       0.0f
#define DEFAULT_VN100_MAG_ALGN_YX       0.0f
#define DEFAULT_VN100_MAG_ALGN_YZ       0.0f
#define DEFAULT_VN100_MAG_ALGN_ZX       0.0f
#define DEFAULT_VN100_MAG_ALGN_ZY       0.0f

#define DEFAULT_L1_ATT_J_ROLL           0.0127f             // J matrix
#define DEFAULT_L1_ATT_J_PITCH          0.0127f             // J matrix
#define DEFAULT_L1_ATT_J_YAW            0.024661f           // J matrix
#define DEFAULT_L1_ATT_AM1              -10.0f
#define DEFAULT_L1_ATT_AM2              -25.0f
#define DEFAULT_L1_ATT_T2R_A1           0.0
#define DEFAULT_L1_ATT_T2R_A2           0.0
#define DEFAULT_L1_ATT_PROP_K1          14.62f
#define DEFAULT_L1_ATT_M_TLT_RT         1.0f                // rads/s
#define DEFAULT_L1_ATT_M_YAW_RT         1.0f                // rads/s
#define DEFAULT_L1_ATT_MAX_OUT          4.0f                // total moment demand allowed (n_a + n_b)
#define DEFAULT_L1_ATT_QUAT_TAU         0.05f
#define DEFAULT_L1_ATT_L1_ASP           -10.0f
#define DEFAULT_L1_ATT_L1_K1            18.6f
#define DEFAULT_L1_ATT_PWM_LO           1000.0f             // us
#define DEFAULT_L1_ATT_PWM_HI           1950.0f             // us
#define DEFAULT_L1_ATT_PWM_SCAL         6500.0f             // RPM
#define DEFAULT_L1_ATT_AM1_KNOB         0.0f                // AM1
#define DEFAULT_L1_ATT_AM2_KNOB         0.0f                // AM2
#define DEFAULT_L1_ATT_K1_KNOB          0.0f                // L1_K1
#define DEFAULT_L1_ATT_PT_KNOB          0.0f                // prop torque

#define DEFAULT_L1_ATT_MM_R01           0.0f
#define DEFAULT_L1_ATT_MM_P01           0.0f
#define DEFAULT_L1_ATT_MM_Y01           0.0f
#define DEFAULT_L1_ATT_MM_R02           0.0f
#define DEFAULT_L1_ATT_MM_P02           0.0f
#define DEFAULT_L1_ATT_MM_Y02           0.0f
#define DEFAULT_L1_ATT_MM_R03           0.0f
#define DEFAULT_L1_ATT_MM_P03           0.0f
#define DEFAULT_L1_ATT_MM_Y03           0.0f
#define DEFAULT_L1_ATT_MM_R04           0.0f
#define DEFAULT_L1_ATT_MM_P04           0.0f
#define DEFAULT_L1_ATT_MM_Y04           0.0f
#define DEFAULT_L1_ATT_MM_R05           0.0f
#define DEFAULT_L1_ATT_MM_P05           0.0f
#define DEFAULT_L1_ATT_MM_Y05           0.0f
#define DEFAULT_L1_ATT_MM_R06           0.0f
#define DEFAULT_L1_ATT_MM_P06           0.0f
#define DEFAULT_L1_ATT_MM_Y06           0.0f
#define DEFAULT_L1_ATT_MM_R07           0.0f
#define DEFAULT_L1_ATT_MM_P07           0.0f
#define DEFAULT_L1_ATT_MM_Y07           0.0f
#define DEFAULT_L1_ATT_MM_R08           0.0f
#define DEFAULT_L1_ATT_MM_P08           0.0f
#define DEFAULT_L1_ATT_MM_Y08           0.0f
#define DEFAULT_L1_ATT_MM_R09           0.0f
#define DEFAULT_L1_ATT_MM_P09           0.0f
#define DEFAULT_L1_ATT_MM_Y09           0.0f
#define DEFAULT_L1_ATT_MM_R10           0.0f
#define DEFAULT_L1_ATT_MM_P10           0.0f
#define DEFAULT_L1_ATT_MM_Y10           0.0f
#define DEFAULT_L1_ATT_MM_R11           0.0f
#define DEFAULT_L1_ATT_MM_P11           0.0f
#define DEFAULT_L1_ATT_MM_Y11           0.0f
#define DEFAULT_L1_ATT_MM_R12           0.0f
#define DEFAULT_L1_ATT_MM_P12           0.0f
#define DEFAULT_L1_ATT_MM_Y12           0.0f
#define DEFAULT_L1_ATT_MM_R13           0.0f
#define DEFAULT_L1_ATT_MM_P13           0.0f
#define DEFAULT_L1_ATT_MM_Y13           0.0f
#define DEFAULT_L1_ATT_MM_R14           0.0f
#define DEFAULT_L1_ATT_MM_P14           0.0f
#define DEFAULT_L1_ATT_MM_Y14           0.0f
